ICM-42607六轴传感器WOM模式配置

ICM-42607支持配置WOM模式，检测到加速度变化后在中断引脚触发跳沿信号。具体配置方式如下：
1、首先实现几个读写寄存器的函数：

#define ONE_G 9.807f

#define	SMPLRT_DIV		0x19	//陀螺仪采样率，典型值：0x07(125Hz)
#define	CONFIG			0x1A	//低通滤波频率，典型值：0x06(5Hz)
#define	GYRO_CONFIG		0x1B	//陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
#define	ACCEL_CONFIG	0x1C	//加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
#define	ACCEL_XOUT_H	0x0B
#define	ACCEL_XOUT_L	0x3C
#define	ACCEL_YOUT_H	0x3D
#define	ACCEL_YOUT_L	0x3E
#define	ACCEL_ZOUT_H	0x3F
#define	ACCEL_ZOUT_L	0x40
#define	TEMP_OUT_H		0x41
#define	TEMP_OUT_L		0x42
#define	GYRO_XOUT_H		0x43
#define	GYRO_XOUT_L		0x44	
#define	GYRO_YOUT_H		0x45
#define	GYRO_YOUT_L		0x46
#define	GYRO_ZOUT_H		0x47
#define	GYRO_ZOUT_L		0x48
#define	PWR_MGMT0		0x1f	//电源管理，典型值：0x00(正常启用)
#define	WHO_AM_I	    0x75	//IIC地址寄存器(默认数值0x68，只读)
#define	SlaveAddress	0x68	//IIC写入时的地址字节数据，+1为读取
#define	SlaveAddress2	0x69	//IIC写入时的地址字节数据，+1为读取

//六轴IIC地址
static unsigned char IMU_slave_addr = SlaveAddress2;

//写寄存器
unsigned char IMU_write_reg(unsigned char reg, unsigned char value)
{
	unsigned char ret = 0;
	unsigned int retry = 0;

	while((ret == 0) && (retry++ < 5))
	{
		ret = i2c1_write(IMU_slave_addr<<1, reg, value);
	}
	return ret;
}

//读寄存器
unsigned char IMU_read_reg(unsigned char reg, unsigned char* buf, unsigned short len)
{
	unsigned char ret = 0;
	unsigned int retry = 0;

	while((ret == 0) && (retry++ < 5))
	{
		ret = i2c1_read(IMU_slave_addr<<1, reg, buf, len);
	}
	return ret;
}

//读取MREG1的寄存器
uint8_t read_MREG1_reg(uint8_t addr)
{
	uint8_t ret;
	
	IMU_write_reg(0x7C, 0x00);	//BLK_SEL_R
	IMU_write_reg(0x7D, addr);	//MADDR_R
	delay_us(10);
	
	IMU_read_reg(0x7E,&ret,1);	//M_R
	delay_us(10);
	
	return ret;
}

//写入MREG1的寄存器
static void write_MREG1_reg(uint8_t addr,uint8_t val)
{
	IMU_write_reg(0x79, 0x00);	//BLK_SEL_W
	IMU_write_reg(0x7A, addr);	//MADDR_W
	IMU_write_reg(0x7B, val);		//M_W
	delay_us(10);
}

//读取加速度和角速度
uint8_t my_IMU_read_asix6(float acc[3],float gyro[3])
{
	unsigned char	buf_reg[12];
	short 			raw_acc_xyz[3];
	short 			raw_gyro_xyz[3];
	
	if(0 == IMU_read_reg(ACCEL_XOUT_H,buf_reg,12))
	{
		return 0;
	}
	
	raw_acc_xyz[0] = (short)((unsigned short)(buf_reg[0]<<8) |( buf_reg[1]));
	raw_acc_xyz[1] = (short)((unsigned short)(buf_reg[2]<<8) |( buf_reg[3]));
	raw_acc_xyz[2] = (short)((unsigned short)(buf_reg[4]<<8) |( buf_reg[5]));
	
	// m/s2
	acc[0] = (float)(raw_acc_xyz[0]*ONE_G)/acc_lsb_div;
	acc[1] = (float)(raw_acc_xyz[1]*ONE_G)/acc_lsb_div;
	acc[2] = (float)(raw_acc_xyz[2]*ONE_G)/acc_lsb_div;

	raw_gyro_xyz[0] = (short)((unsigned short)(buf_reg[6]<<8) |( buf_reg[7]));
	raw_gyro_xyz[1] = (short)((unsigned short)(buf_reg[8]<<8) |( buf_reg[9]));
	raw_gyro_xyz[2] = (short)((unsigned short)(buf_reg[10]<<8) |( buf_reg[11]));
	
	// dps
	gyro[0] = (float)(raw_gyro_xyz[0]*1.0f)/gyro_lsb_div;
	gyro[1] = (float)(raw_gyro_xyz[1]*1.0f)/gyro_lsb_div;
	gyro[2] = (float)(raw_gyro_xyz[2]*1.0f)/gyro_lsb_div;
	
	return 1;
}

2、配置WOM模式的寄存器函数

//震动检测模式配置（WOM）
void IMU_WOM_mode_config(void)
{
	uint8_t IMU_threshold_temp = 0;
	
	//先配置为LOW NOISE模式,配置MREG1寄存器在LP模式下会出问题
	//PWR_MGMT0 bit7 ACCEL_LP_CLK_SEL bit23 GYRO_MODE bit01 ACCEL_MODE
	IMU_write_reg(PWR_MGMT0, 0x8f);
	
	/*
        配置震动检测阈值（单位 2G/256-3.9mg）
		六轴震动检测阈值：1Lsb = 4mg
	*/
    IMU_threshold_temp = 8;
	write_MREG1_reg(0x4B,IMU_threshold_temp);
	write_MREG1_reg(0x4C,IMU_threshold_temp);
	write_MREG1_reg(0x4D,IMU_threshold_temp);

	//关闭INT1映射INT_SOURCE6
	write_MREG1_reg(0x2F,0x00);
	delay_ms(1);
	
	//配置加速度寄存器采样滤波系数
	//ACCCEL_UI_AVG(bit4-6)=2X:000, 4X:001,16X:011, 32X:100，64X:101
	//设置低通滤波器带宽
	//ACCEL_UI_FILT_BW(bit0-2)=180Hz:001，010: 121 Hz,25hz:110,16hz:111
	IMU_write_reg(0x24, 0x21);
	delay_ms(1);
	
	//配置ACCODR
	/*
	0101: 1.6 kHz (LN mode)
	0110: 800 Hz (LN mode)
	0111: 400 Hz (LP or LN mode)
	1000: 200 Hz (LP or LN mode)
	1001: 100 Hz (LP or LN mode)
	1010: 50 Hz (LP or LN mode)
	1011: 25 Hz (LP or LN mode)
	1100: 12.5 Hz (LP or LN mode)
	1101: 6.25 Hz (LP mode)
	1110: 3.125 Hz (LP mode)
	1111: 1.5625 Hz (LP mode)
	*/
	IMU_write_reg(0x21, 0x0B);
	delay_ms(1);
	
	//配置LP模式：关闭角速度，加速度低功耗模式
	//PWR_MGMT0 bit7 ACCEL_LP_CLK_SEL bit23 GYRO_MODE bit01 ACCEL_MODE
	IMU_write_reg(PWR_MGMT0, 0x02);
	delay_ms(1);
	
	//配置INT1中断类型:Push pull,Active high,Pulsed mode
	//INT1_POLARITY(bit0):1Active high
	//INT1_DRIVE_CIRCUIT(bit1):1: Push pull
	//INT1_MODE(bit2):0: Pulsed mode
	IMU_write_reg(0x06,0x03);
	
	//关闭其他INT1中断映射
	IMU_write_reg(0x2B,0x00);
	
	//WOM中断映射到INT1(X\Y\Z轴：bit0-2)
	IMU_write_reg(0x2C,0x07);

//映射INT2
//	//关闭其他中断映射
//	IMU_write_reg(0x2D,0x00);
//	IMU_read_reg(0x2D,&ret,1);
//	//WOM中断映射到INT2
//	IMU_write_reg(0x2E,0x07);
//	IMU_read_reg(0x2E,&ret,1);

	//开启WOM功能
	//WOM_INT_DUR(bit3-4):01: WoM interrupt asserted at second overthreshold event
	//WOM_INT_MODE(bit2):0:Set WoM interrupt on the OR of all enabled accelerometer thresholds
	//WOM_MODE(bit1)1: Compare current sample to previous sample
	//WOM_EN(bit0)1: WOM enabled
    IMU_write_reg(0x27,0x07);
}

3、尝试初始化芯片，并调用函数配置芯片进入WOM模式

//六轴寄存器初始化
uint8_t IMU_reg_init(void)
{
	//IIC地址
	IMU_slave_addr = SlaveAddress2;	//0x69
	
	//读取WHOAMI寄存器
	IMU_read_reg(WHO_AM_I, &IMU_chip_id, 1);
	if(0x60 != IMU_chip_id)
	{
		IMU_slave_addr = SlaveAddress;	//0x68
		IMU_read_reg(WHO_AM_I, &IMU_chip_id, 1);
		if(0x60 != IMU_chip_id)
		{
			return 0;
		}
	}

    IMU_WOM_mode_config();	//WOM模式

	return 1;
}

至此完成六轴芯片的WOM（震动检测）模式的初始化配置